CN113419266B

CN113419266B - Positioning method and device, electronic equipment and computer readable storage medium

Info

Publication number: CN113419266B
Application number: CN202110964932.8A
Authority: CN
Inventors: 苏景岚
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2021-12-10
Anticipated expiration: 2041-08-23
Also published as: CN113419266A

Abstract

The embodiment of the application discloses a positioning method and device, electronic equipment and a computer readable storage medium, which can be applied to the fields of automatic driving, intelligent traffic and the like, wherein the method comprises the following steps: the method comprises the steps of firstly obtaining the geographic position of terminal equipment to be positioned and satellite detection signals, determining whether the terminal equipment is located in the geographic range of the viaduct or not according to the geographic position of the terminal equipment, if so, determining distribution parameters of a plurality of visible satellites according to the satellite detection signals and the geographic position of the terminal equipment, and determining whether the terminal equipment is located on a bridge deck road of the viaduct or an underbridge road of the viaduct or not according to the numerical range of the distribution parameters, wherein the distribution parameters are used for marking the position distribution relation between the plurality of visible satellites and the terminal equipment in a geometric space. According to the technical scheme, the terminal equipment can be accurately positioned on the bridge deck road of the viaduct or the underbridge road of the viaduct, the navigation precision is improved, the cost is reduced, and the universality is improved.

Description

Positioning method and device, electronic equipment and computer readable storage medium

Technical Field

The present application relates to the field of navigation technologies, and in particular, to a positioning method and apparatus, an electronic device, and a computer-readable storage medium.

Background

The navigation technology provides great convenience for the user to go out. In order to provide the user with correct navigation, it is necessary to locate whether the terminal device used by the user is located on the deck road of the viaduct or the underbridge road of the viaduct. However, in the prior art, the accuracy rate of the mode that the positioning terminal device is located on the bridge surface road of the viaduct or the off-bridge road of the viaduct is low, the cost is high, and the navigation precision is reduced.

Disclosure of Invention

In order to solve the above technical problem, embodiments of the present application provide a positioning method and apparatus, an electronic device, and a computer-readable storage medium.

According to an aspect of an embodiment of the present application, there is provided a positioning method, including:

acquiring the geographic position and a satellite detection signal of a terminal device to be positioned;

determining whether the terminal equipment is located in the geographical range of the viaduct or not according to the geographical position of the terminal equipment;

if the terminal equipment is located in the geographic range of the viaduct, determining distribution parameters of a plurality of visible satellites according to the satellite detection signals and the geographic position of the terminal equipment, wherein the distribution parameters are used for representing the position distribution relation of the visible satellites and the terminal equipment in a geometric space;

and determining that the terminal equipment is positioned on a bridge deck road of the viaduct or an underbridge road of the viaduct according to the numerical range of the distribution parameters.

According to an aspect of an embodiment of the present application, there is provided a positioning apparatus, including:

the acquisition module is configured to acquire the geographic position of the terminal equipment to be positioned and a satellite detection signal;

the first determination module is configured to determine whether the terminal equipment is located in the geographical range of the viaduct or not according to the geographical position of the terminal equipment;

a second determining module, configured to determine distribution parameters of a plurality of visible satellites according to the satellite detection signals and the geographic position of the terminal device if the terminal device is located within the geographic range of the viaduct, where the distribution parameters are used to represent a position distribution relationship between the plurality of visible satellites and the terminal device in a geometric space;

and the positioning module is configured to determine that the terminal equipment is positioned on a bridge deck road of the viaduct or an off-bridge road of the viaduct according to the numerical range of the distribution parameters.

According to an aspect of an embodiment of the present application, there is provided an electronic device including:

one or more processors;

storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the method as described above.

According to an aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon computer-readable instructions which, when executed by a processor of a computer, cause the computer to perform the method as described above.

According to an aspect of embodiments herein, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the method as described above.

In the technical scheme provided by the embodiment of the application, the geographical position and the satellite detection signal of the terminal device to be positioned are firstly obtained, whether the terminal device is located in the geographical range of the viaduct is determined according to the geographical position of the terminal device, if yes, the distribution parameters of a plurality of visible satellites are determined according to the satellite detection signal and the geographical position of the terminal device, and the terminal device is located on a bridge deck road of the viaduct or an underbridge road of the viaduct is determined according to the numerical range of the distribution parameters, wherein the distribution parameters are used for representing the position distribution relation between the plurality of visible satellites and the terminal device in a geometric space; therefore, on one hand, the geographical range of the viaduct and the position distribution relation between the visible satellites and the terminal equipment are combined to determine whether the terminal equipment is located on the bridge deck road of the viaduct or the underbridge road of the viaduct, so that the accuracy is improved, and the navigation precision is further improved; on the other hand, in the technical scheme, devices such as a sensor and the like do not need to be additionally arranged, the cost is reduced, and the universality is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic illustration of an implementation environment to which the present application relates.

FIG. 2 is a schematic illustration of another implementation environment to which the present application relates.

Fig. 3 is a flow chart illustrating a positioning method according to an exemplary embodiment of the present application.

Fig. 4 is a flow chart of step S120 in the embodiment shown in fig. 3 in an exemplary embodiment.

Fig. 5 is a schematic view of a viaduct shown in an exemplary embodiment of the present application.

Fig. 6 is a flow chart of step S130 in the embodiment shown in fig. 3 in an exemplary embodiment.

FIG. 7 is a schematic diagram illustrating ephemeris parameters in an exemplary embodiment of the application.

FIG. 8 is a schematic diagram illustrating satellite elevation angle versus reference frame in accordance with an exemplary embodiment of the present application.

FIG. 9 is a schematic diagram illustrating a relationship of a satellite plane angle to a reference coordinate system in accordance with an exemplary embodiment of the present application.

Fig. 10 is a flowchart of step S140 in the embodiment shown in fig. 3 in an exemplary embodiment.

Fig. 11 is a block diagram of a positioning device shown in an exemplary embodiment of the present application.

Fig. 12 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

It should also be noted that: reference to "a plurality" in this application means two or more. "and/or" describe the association relationship of the associated objects, meaning that there may be three relationships, e.g., A and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

Before the technical solutions of the embodiments of the present application are described, terms and expressions referred to in the embodiments of the present application are explained, and the terms and expressions referred to in the embodiments of the present application are applied to the following explanations.

Geo-fencing is a new application of LBS (Location Based Services), which is to use a virtual fence to enclose a virtual geographic boundary; the cell phone or other device may receive automatic notifications and alerts when the cell phone or other device enters, leaves, or is active within a particular geographic area; with the geo-fencing technology, the location social networking site can help users to automatically register when entering a certain area; geofences are one type of LBS. Unlike LBS positioning mode in which a certain area is used as the center to cover the periphery by 3 km or 5 km, the geofence focuses more on defining the boundary of the area, does not draw circles outwards at equal distances by using a certain point as the center of the circle, but accurately outlines the actual shape, area and area of specific coordinates such as a cell, an office building and the like.

The Global Navigation Satellite System (also called Global Navigation Satellite System) is a space-based radio Navigation positioning System capable of providing users with all-weather three-dimensional coordinates and speed and time information at any place on the earth's surface or in the near-earth space. The common Global Satellite Navigation systems include four major Satellite Navigation systems, namely, a GPS (Global Positioning System), a BDS (BeiDou Navigation Satellite Navigation System), a GLONASS (Global Navigation Satellite Navigation System), and a Galileo Satellite Navigation System. Satellite navigation systems have been widely used in aviation, navigation, communications, personnel tracking, consumer entertainment, mapping, time service, vehicle monitoring management, and car navigation and information services, and a general trend is to provide high-precision services for real-time applications.

A satellite positioning device, an electronic device for tracking and processing satellite signals and measuring geometric distances (pseudo-range observations) between the device and the satellites and doppler effects (i.e., pseudo-range rate observations) of the satellite signals; the satellite positioning device generally comprises an antenna, a satellite signal tracking loop, a baseband signal processing module and other modules, the mobile terminal integrated with the satellite positioning device calculates the current position coordinate of the mobile terminal according to a pseudo range and a pseudo range rate observation value, and the satellite positioning device is widely applied to the civil and military fields of map navigation, surveying and mapping, aerospace, position service and the like, such as smart phone map navigation, high-precision geodetic survey, civil aviation and the like.

The satellite observation value comprises parameters such as pseudo range, pseudo range rate, accumulated distance increment (ADR) and the like, wherein the observation value output by the satellite positioning equipment; the pseudo-range measurement is the geometric distance from the satellite to the satellite positioning equipment; the pseudo range rate measurement is the Doppler effect generated by the relative motion of the satellite positioning equipment and the satellite; the ADR measures the amount of geometric distance variation from the satellite to the satellite positioning device.

In the related art, in order to locate whether the terminal device is located on the bridge surface road of the viaduct or the under-bridge road of the viaduct, a sensor is usually disposed on the terminal device, the actions of the upper and lower viaducts of the terminal device are identified according to parameters of the sensor, and the terminal device is located on the bridge surface road of the viaduct or the under-bridge road of the viaduct according to the identification result. The method has low accuracy and high cost, and reduces the navigation precision. Based on this, the embodiment of the application provides a positioning method and device, an electronic device, and a computer-readable storage medium, which can improve accuracy, improve navigation accuracy, reduce cost, and improve universality.

Referring to fig. 1, fig. 1 is a schematic diagram of an implementation environment related to the present application. The implementation environment comprises a terminal device 100, a positioning device 200 and a satellite 300, wherein communication is carried out between the terminal device 100 and the positioning device 200 through a wired or wireless network.

The terminal device 100 is equipped with a satellite positioning device to locate the geographical position of the terminal device by means of a global satellite navigation system. The terminal device 100 may be any electronic device with a satellite positioning function, such as a smart phone, a tablet, a notebook computer, a computer, and a vehicle-mounted terminal. The positioning device 200 may be any electronic device capable of positioning a terminal device on a bridge deck road of a viaduct or an off-bridge road of the viaduct, such as a smart phone, a tablet, a laptop, a computer, a server, and the like. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), a big data and artificial intelligence platform, and the like, which is not limited herein.

The satellites 300 may be satellites belonging to any global navigation satellite system, such as GPS satellites, beidou satellites, GLONASS satellites, and the like.

The terminal device 100 can locate its own geographical position and can detect the signal of the satellite 300 to obtain a satellite detection signal. The positioning device 200 may obtain a geographic position of the terminal device 100 and a satellite detection signal, determine whether the terminal device 100 is located within a geographic range of the viaduct according to the geographic position of the terminal device 100, determine distribution parameters of a plurality of visible satellites according to the satellite detection signal and the geographic position of the terminal device 100 if the terminal device 100 is located within the geographic range of the viaduct, and determine that the terminal device 100 is located on a bridge deck road of the viaduct or an underbridge road of the viaduct according to a numerical range of the distribution parameters; the distribution parameter is used for representing the position distribution relation between the plurality of visible satellites and the terminal equipment in the geometric space. Therefore, on one hand, the geographical range of the viaduct and the position distribution relation between the visible satellites and the terminal equipment are combined to determine whether the terminal equipment is located on the bridge deck road of the viaduct or the underbridge road of the viaduct, so that the accuracy is improved, and the navigation precision is further improved; on the other hand, in the technical scheme, devices such as a sensor and the like do not need to be additionally arranged, the cost is reduced, and the universality is improved.

The positioning device 200 may obtain the geofence data of the overpass from the geofence database, determine the geographic range of the overpass according to the geofence data of the overpass, and compare the geographic position of the terminal device 100 with the geographic range of the overpass to determine whether the terminal device 100 is located within the geographic range of the overpass.

Referring to fig. 2, fig. 2 is a schematic diagram of another embodiment of the present application. The implementation environment is based on the implementation environment shown in fig. 1, and further includes a continuously operating reference station server 400.

It should be noted that Continuously Operating Reference Stations (CORS) are established by using a multi-base station network RTK (Real Time Kinematic, Real Time Kinematic measurement technology). The CORS system is a product of high and new technologies such as satellite positioning technology, computer network technology, digital communication technology and the like, multidirectional and deep crystallization. The CORS system consists of five parts, namely a reference station network, a data processing center, a data transmission system, a positioning navigation data broadcasting system and a user application system, wherein each reference station is connected with the monitoring analysis center into a whole through the data transmission system to form a special network.

In this embodiment, the positioning apparatus 200 may determine a plurality of visible satellites according to the satellite detection signal, and send an ephemeris acquisition request to the continuously operating reference station server 400 in the area where the terminal device is located; the continuously operating reference station server 400 sends ephemeris data to the positioning device 200 based on the ephemeris acquisition request; after the positioning apparatus 200 receives the ephemeris data, it determines distribution parameters of a plurality of visible satellites based on the geographical position of the terminal device 100 and the received ephemeris data. The ephemeris data comprises the geocentric and geostationary coordinates of different satellites monitored by the continuously operating reference station server at different times. In this way, the positioning apparatus 200 obtains the ephemeris data from the continuously operating reference station server 400, so that the accuracy of the obtained ephemeris data is higher, and compared with a method of obtaining the ephemeris data through self-observation of the terminal device 100, time can be saved and efficiency can be improved.

The terminal device 100 and the positioning apparatus 200 may be independent electronic devices, for example, the terminal device 100 is a user-side terminal such as a smartphone or a vehicle-mounted terminal, and the positioning apparatus 200 is a server. The terminal device 100 and the positioning device 200 may also be the same electronic device, that is, the electronic device may acquire its own geographic position and satellite detection signal, and determine whether it is located within the geographic range of the overpass according to its own geographic position; and if the visible satellites are located in the geographic range of the viaduct, determining the distribution parameters of the visible satellites according to the satellite detection signals and the geographic positions of the visible satellites, and determining the bridge deck roads of the viaduct or the underpass roads of the viaduct according to the numerical range of the distribution parameters.

In fig. 1 and 2, the number of satellites 300 is merely exemplary. There may be any number of satellites 300, as desired.

Fig. 3 is a flow chart illustrating a method of positioning according to an example embodiment. The method can be applied to the implementation environments shown in fig. 1 and fig. 2, and is specifically executed by the positioning apparatus 200 in the implementation environments shown in fig. 1 and fig. 2.

As shown in fig. 3, in an exemplary embodiment, the positioning method may include steps S110 to S140, which are described in detail as follows:

step S110, the geographic position and the satellite detection signal of the terminal device to be positioned are obtained.

The terminal equipment can be any electronic equipment with a satellite positioning function, such as a mobile phone, a tablet computer, a station terminal and the like. The terminal device may be equipped with at least one of global satellite navigation systems such as a GPS, BDS, glonass satellite navigation system, galileo satellite navigation system, and the like, and may locate its own geographical position by the equipped global satellite navigation system. The terminal equipment can also detect signals transmitted by satellites through a mounted global navigation satellite system to obtain satellite detection signals. When the terminal device is equipped with at least two global satellite navigation systems, in order to improve the positioning accuracy, the terminal device can simultaneously detect signals sent by satellites through the at least two global satellite navigation systems so as to obtain satellite detection signals; alternatively, to save power consumption, the terminal device may detect signals transmitted by satellites through one of the at least two global satellite navigation systems.

In this embodiment, in order to determine whether the terminal device to be positioned is located on a bridge surface road of the viaduct or an underbridge road of the viaduct, the geographic position and the satellite detection signal of the terminal device to be positioned are obtained.

And step S120, determining whether the terminal equipment is located in the geographical range of the viaduct or not according to the geographical position of the terminal equipment.

After the geographic position of the terminal device is obtained, the geographic position of the terminal device may be compared with the geographic range of the viaduct to determine whether the terminal device is located within the geographic range of the viaduct.

Step S130, if the terminal equipment is located in the geographical range of the viaduct, determining the distribution parameters of a plurality of visible satellites according to the satellite detection signals and the geographical position of the terminal equipment.

The distribution parameter is used for representing the position distribution relation between the plurality of visible satellites and the terminal equipment in the geometric space.

In this embodiment, if the terminal device is located within the geographic range of the overpass, in order to further determine whether the terminal device is located on a bridge surface road of the overpass or an underpass road of the overpass, a plurality of visible satellites are determined according to the satellite detection signal, and distribution parameters of the plurality of visible satellites are determined according to the satellite detection signal and the geographic position of the terminal device. The distribution parameters of the plurality of visible satellites are determined after the terminal equipment is determined to be located within the geographical range of the viaduct, so that the situation that the distribution parameters of the plurality of visible satellites are useless when the terminal equipment is located outside the geographical range of the viaduct due to the fact that the distribution parameters of the plurality of visible satellites are directly determined is avoided, data processing amount can be reduced, and power consumption can be reduced.

It should be noted that, the specific manner of determining the visible satellites according to the satellite detection signals can be flexibly set according to actual needs. For example, in one example, satellites corresponding to all satellite signals included in the satellite probe signal may be used as visible satellites, that is, the terminal device may use a certain satellite as a visible satellite as long as it detects a signal transmitted by the satellite. In another example, a satellite signal with a signal strength exceeding a preset strength threshold may also be screened from a satellite detection signal, and a satellite corresponding to the screened satellite signal is used as a visible satellite, that is, after a terminal device detects a signal sent by a certain satellite, the satellite is used as the visible satellite only when the signal strength exceeds the preset strength threshold, where the preset strength threshold may be flexibly set according to actual needs. In another example, a satellite signal with a signal-to-noise ratio exceeding a preset threshold may also be screened from the satellite detection signals, and a satellite corresponding to the screened satellite signal is taken as a visible satellite, that is, after the terminal device detects a signal sent by a certain satellite, the satellite is taken as the visible satellite only when the signal-to-noise ratio of the signal exceeds the preset threshold, where the preset threshold may be flexibly set according to actual needs, for example, may be set to 7dbHz, and the like.

And step S140, determining whether the terminal equipment is positioned on a bridge deck road of the viaduct or an underbridge road of the viaduct according to the numerical range of the distribution parameters.

When the terminal equipment is positioned on the off-bridge road of the viaduct, the satellite positioned at the top of the viaduct can be shielded, so that the visible satellite detected when the terminal equipment is positioned on the off-bridge road of the viaduct is different from the visible satellite detected when the terminal equipment is positioned on the bridge deck road of the viaduct, and the distribution parameters of the visible satellite form differences. Therefore, after the distribution parameters of the plurality of visible satellites are determined, the terminal equipment can be determined to be located on the bridge surface road of the viaduct or the under-bridge road of the viaduct according to the numerical range of the distribution parameters, and therefore accuracy is improved.

In the embodiment, on one hand, the geographical range of the viaduct and the position distribution relationship between the visible satellites and the terminal equipment are combined to determine that the terminal equipment is located on the bridge deck road of the viaduct or the road under the viaduct, so that the accuracy is improved, and meanwhile, after the terminal equipment is determined to be located on the bridge deck road of the viaduct or the road under the viaduct, accurate navigation can be performed according to the positioning result, so that the navigation accuracy is improved; on the other hand, in the technical scheme provided by the embodiment, devices such as a sensor and the like do not need to be additionally arranged, so that the cost is reduced, and the universality is improved.

It should be noted that the technical solution provided in this embodiment can be applied to the fields of lane-level navigation, pedestrian navigation, intelligent traffic, automated driving, and the like.

Referring to fig. 4, fig. 4 is a flowchart of step S120 in the embodiment shown in fig. 3 in an exemplary embodiment. As shown in fig. 4, the process of determining whether the terminal device is located within the geographic range of the overpass according to the geographic location of the terminal device may include steps S121 to S123, which are described in detail as follows:

step S121, acquiring the geo-fence data of the viaduct from the geo-fence database.

In this embodiment, a geofence database is preset, and the geofence database contains the geofence data of the overpass.

After the geographic position of the terminal device to be positioned and the satellite detection signal are obtained, the geofence data of the viaduct bridge can be obtained from the geofence database.

To reduce data throughput, in some examples, geofence data for a overpass within the area of the terminal device may be obtained from a geofence database. For example, assuming that the geofence database includes geofence data of an overpass in area a and geofence data of an overpass in area B, if the terminal device is in area a, the geofence data of the overpass in area a is acquired.

In some examples, the geo-fence database is maintained by a geo-fence server, in which case step S121 may include steps S210-S220, described in detail below:

step S210, sending a geofence data acquisition request to the geofence server, so that the geofence server acquires the geofence data of the overpass in the area where the terminal device is located based on the geographic location of the terminal device in the geofence data acquisition request.

The geofence data acquisition request comprises the geographic position of the terminal equipment, and the geofence server determines the area where the terminal equipment is located based on the geographic position of the terminal equipment in the geofence data acquisition request after receiving the geofence data acquisition request, and acquires the geofence data of the viaduct in the area where the terminal equipment is located.

Step S220, receiving the geofence data of the overpass sent by the geofence server based on the geofence data acquisition request.

After acquiring the geo-fence data of the viaduct in the area where the terminal equipment is located, the geo-fence server sends the acquired geo-fence data to the positioning device, and the positioning device receives the geo-fence data sent by the geo-fence server.

And S122, determining the geographical range of the viaduct according to the geo-fence data of the viaduct.

After the geofence data of the viaduct is obtained, the geographic range of the viaduct can be determined according to the geofence data of the viaduct.

It should be noted that, referring to fig. 5, fig. 5 is a schematic diagram of a viaduct, and the geofence data of the viaduct may be a set of polygon vertex coordinates, as follows:

wherein,

is the geofence data for a overpass,

-

as the position information of the point on the edge of the overpass,

is the position information of the a-th spot,

and

respectively representing the latitude and longitude values of the a-th point.

Step S123, comparing the geographic position of the terminal device with the geographic range of the viaduct to determine whether the terminal device is located within the geographic range of the viaduct.

After the geographical range of the viaduct is determined, the geographical position of the terminal device is compared with the geographical range of the viaduct, so that whether the terminal device is located in the geographical range of the viaduct can be determined according to the comparison result.

In one example, the geographic location of the end device may be compared to the geographic range of the overpass based on the PNPOLY algorithm to determine whether the end device is within the geographic range of the overpass. It should be noted that the PNPOLY algorithm is an algorithm for determining whether a point is inside a polygon.

In the embodiment, the method and the device for identifying the viaduct are combined with the geofence data of the viaduct to determine whether the terminal device is located within the geographic range of the viaduct, so that the identification precision is improved.

Referring to fig. 6, fig. 6 is a flowchart of step S130 in the embodiment shown in fig. 3 in an exemplary embodiment. As shown in fig. 6, the process of determining the distribution parameters of the plurality of visible satellites according to the satellite detection signals and the geographic location of the terminal device may include steps S131 to S134, which are described in detail as follows:

step S131, a plurality of visible satellites are determined according to the satellite detection signals.

In this embodiment, a plurality of visible satellites may be determined according to the satellite detection signal, wherein the method for determining the visible satellites according to the satellite detection signal may refer to the aforementioned description, and details thereof are not repeated here.

Step S132, sending an ephemeris acquisition request to a continuously operating reference station server in the area where the terminal device is located.

In different areas, a continuously operating reference station server may be set, and in order to acquire ephemeris data, and thus determine distribution parameters of visible satellites according to the ephemeris data, in this embodiment, an ephemeris acquisition request is sent to the continuously operating reference station server in the area where the terminal device is located.

Step S133 receives ephemeris data sent by the continuously operating reference station server based on the ephemeris acquisition request.

Wherein the ephemeris data includes geocentric geodetic coordinates of different satellites detected at different times by the continuously operating reference station server. The geocentric coordinate system is the coordinate of an object in an ECEF (Earth-Centered, Earth-Fixed, geocentric coordinate system), the ECEF is a geocentric coordinate system taking the geocentric as an origin, the origin o (0, 0, 0) is the centroid of the Earth, a z axis (namely a vertical axis) and the Earth axis are parallel and point to a north pole, an x axis (namely a horizontal axis) points to the intersection point of the meridian of the original meridian and the equator, and a y axis (namely a vertical axis) is perpendicular to a xoz plane (namely the intersection point of the east 90 degrees and the equator), so that a right-hand coordinate system is formed.

It should be noted that, in the operation process, the continuously operating reference station server may detect satellites of different gnss in real time or periodically, and record the geocentric/geostationary coordinates of the different satellites to form an ephemeris parameter table. For example, as shown in fig. 7, the continuously operating reference station server may respectively detect the geocentric/geostationary coordinates of a GPS satellite, a beidou satellite, a GLONASS satellite and a galileo satellite, so as to obtain a GPS ephemeris parameter table, a beidou ephemeris parameter table, a GLONASS ephemeris parameter table and a galileo ephemeris parameter table.

After receiving an ephemeris acquisition request sent by a positioning device, a continuously operating reference station server acquires ephemeris data and sends the ephemeris data to the positioning device, and the positioning device receives the ephemeris data sent by the continuously operating reference station server.

The ephemeris data may be transmitted to the positioning apparatus in a form of binary stream through a Wireless transmission network such as 4G (fourth generation mobile communication technology), 5G (fifth generation mobile communication technology), WIFI (Wireless Fidelity), or the like, and may also be transmitted to the positioning apparatus in other manners.

Step S134, determining distribution parameters of a plurality of visible satellites based on the geographical position of the terminal device and the received ephemeris data.

After ephemeris data sent by the continuously operating reference station server based on the ephemeris acquisition request is received, distribution parameters of a plurality of visible satellites can be determined based on the geographical position of the terminal equipment and the ephemeris data.

In the embodiment, the ephemeris data of the satellite is acquired from the continuously operating reference station server, so that the speed of acquiring the ephemeris data and the accuracy of the ephemeris data are improved.

In an exemplary embodiment, the distribution parameter includes an altitude of a visible satellite, and the geographic location of the terminal device includes geocentric geodetic coordinates of the terminal device. The altitude of the visible satellite is an included angle between a direction line from the terminal device to the visible satellite and a horizontal plane in which the terminal device is located. Due to the shielding of the viaduct, when the terminal equipment is located on an off-bridge road of the viaduct, the satellite located at the top of the terminal cannot be detected with a high probability, and the satellite capable of being detected is usually located on the side face of the terminal.

Under the condition that the distribution parameter includes the altitude of the visible satellite and the geographic location of the terminal device includes the geocentric and geocentric coordinates of the terminal device, step S134 shown in fig. 6 may include steps S310-S330, which are described in detail below.

Step S310, determining the geocentric geodetic coordinates of each visible satellite in the plurality of visible satellites at the target time from the received ephemeris data.

The target time can be the time for acquiring the geographic position of the terminal equipment; alternatively, the system time may be used.

Since the ephemeris data includes the geocentric/geostationary coordinates of different satellites detected by the continuously operating reference station server at different times, the geocentric/geostationary coordinates of each visible satellite at the target time can be determined from the ephemeris data.

And step S320, determining the reference coordinate of each visible satellite in the reference coordinate system based on the geocentric coordinates of the terminal equipment and the geocentric coordinates of each visible satellite.

The reference coordinate system is a three-dimensional coordinate system established by taking the terminal equipment as an origin. The plane (i.e. xoy plane) formed by the horizontal axis (i.e. x axis) and the vertical axis (i.e. y axis) of the reference coordinate system is the horizontal plane where the terminal device is located, and the vertical axis is perpendicular to the xoy plane, where o is the origin. The specific establishment manner of the reference coordinate system can be flexibly set according to actual needs, for example, in one example, the horizontal axis (i.e., x axis) of the reference coordinate system can be east direction, the vertical axis (i.e., y axis) can be north direction, and the vertical axis (i.e., z axis) can be height direction.

Step S330, determining the altitude angle of each visible satellite based on the following formula:

wherein,

is the altitude angle of the ith satellite in view,

in the form of an arctan function of,

is the abscissa in the reference coordinate of the ith visible satellite (i.e., the abscissa of the ith visible satellite in the reference coordinate system),

is the ordinate in the reference coordinate of the ith visible satellite (i.e., the ordinate of the ith visible satellite in the reference coordinate system),

is the vertical coordinate in the reference coordinate of the ith visible satellite (i.e., the coordinate of the ith visible satellite in the z-axis direction in the reference coordinate system).

Referring to fig. 8, fig. 8 is a schematic diagram of a relationship between an altitude of a visible satellite and a reference coordinate system, u is an origin o and is also a position of a terminal device, x and z axes are axes in the reference coordinate system, a line segment 811 is a direction line from the terminal device to the satellite 81, a line segment 812 is a projection line of the direction line from the terminal device to the satellite 81 on a horizontal plane (i.e., a plane on which the x and y axes in the reference coordinate system are located) on which the terminal device is located, an included angle between the line segment 811 and the line segment 812 is an altitude β 1 of the satellite 81, and similarly, an included angle between the line segment 821 and the line segment 822 is an altitude β 2 of the satellite 82, and an included angle between the line segment 831 and the line segment 832 is an altitude β 3 of the satellite 83. The length of the opposite side of beta 1 is the satellite 81 in the reference coordinate systemVertical coordinate

And the length of the adjacent side of β 1 (i.e., line segment 812) is

Wherein

being the abscissa of the satellite 81 in the reference coordinate system,

for the ordinate of the satellite 81 in the reference coordinate system, the following formula can be derived therefrom:

where tan is the tangent function.

Thus, the altitude of the visible satellite may be determined based on the abscissa, the ordinate and the arctan function of the visible satellite in the reference coordinate system.

In the embodiment, the three-dimensional coordinate system is established by taking the terminal device as the origin, the reference coordinate of the visible satellite in the reference coordinate system is determined based on the geocentric geo-fixed coordinates of the terminal device and the visible satellite, the altitude angle of the visible satellite is determined based on the reference coordinate of the visible satellite and the arctan function, the calculation mode is simple, and therefore the determination rate and the accuracy of the altitude angle of the visible satellite are improved.

In an exemplary embodiment, under the condition that the geographic location of the terminal device further includes the longitude and latitude of the location where the terminal device is located, the process of determining the reference coordinate of each visible satellite in the reference coordinate system based on the geocentric coordinate of the terminal device and the geocentric coordinate of each visible satellite in step S320 may be as follows:

determining reference coordinates of each visible satellite in the reference coordinate system based on the following formula:

wherein,

is the reference coordinate of the ith visible satellite in the reference coordinate system,

being the longitude of the location where the terminal device is located,

the latitude of the location where the terminal device is located,

is the abscissa in the geocentric geo-stationary coordinate of the ith visible satellite,

is the ordinate of the geocentric geo-fixation coordinate of the ith visible satellite,

is the vertical coordinate in the geocentric coordinates of the ith visible satellite,

is the abscissa in the geocentric coordinates of the terminal equipment,

is a vertical coordinate in the geocentric coordinates of the terminal equipment,

the coordinate is a vertical coordinate in the geocentric earth-fixed coordinate of the terminal equipment.

In an exemplary embodiment, the distribution parameters may also include the plane angle of the visible satellites. The plane angle of the visible satellite is an included angle between a projection line of the visible satellite and a longitudinal axis in the reference coordinate system, and the projection line of the visible satellite is a projection of a connecting line of the terminal equipment and the visible satellite on a plane formed by a horizontal axis and the longitudinal axis of the reference coordinate system. Referring to fig. 9, fig. 9 is a schematic diagram of a relationship between a plane angle of a visible satellite and a reference coordinate system, where u is an origin o and is also a position of a terminal device, x and y axes are axes in the reference coordinate system, dotted lines in fig. 9 are projection lines of the visible satellite (i.e., a projection of a connecting line between the terminal device and the visible satellite on a xoy plane of the reference coordinate system), θ 1 is a plane angle of a satellite 91, θ 2 is a plane angle of a satellite 92, θ 3 is a plane angle of a satellite 93, θ 4 is a plane angle of a satellite 94, and θ 5 is a plane angle of a satellite 95.

Under the condition that the distribution parameters further include a plane angle of a visible satellite, after step S320, the method further includes: determining a plane angle for each satellite in view based on the following formula:

wherein,

is the plane angle of the ith satellite in view.

Referring to fig. 10, fig. 10 is a flowchart of step S140 in the embodiment shown in fig. 3 in an exemplary embodiment. As shown in fig. 10, the process of determining whether the terminal device is located on the bridge surface road of the viaduct or located on the underbridge road of the viaduct according to the value range of the distribution parameter may include steps S141 to S142, which are described in detail as follows:

step S141, a signal-to-noise ratio of each visible satellite of the plurality of visible satellites is obtained.

In order to further improve the accuracy of positioning, in this embodiment, the signal-to-noise ratio of each visible satellite in the plurality of visible satellites may also be obtained.

And S142, determining whether the terminal equipment is positioned on a bridge deck road of the viaduct or an underbridge road of the viaduct according to the numerical range of the distribution parameters and the numerical range of the signal-to-noise ratio.

Considering that the signal-to-noise ratio of the satellite signal is reduced by the shielding of the viaduct when the terminal device is located under the bridge road of the viaduct, the signal-to-noise ratio of the satellite signal detected by the terminal device when the terminal device is located on the bridge deck road of the viaduct is different from the signal-to-noise ratio of the satellite signal detected by the terminal device when the terminal device is located under the bridge road of the viaduct. Therefore, after the signal-to-noise ratio of each visible satellite is obtained, the bridge surface road of the viaduct or the bridge underbridge road of the viaduct of the terminal equipment can be determined according to the numerical range of the distribution parameters and the numerical range of the signal-to-noise ratio, and therefore the positioning accuracy is further improved.

In the embodiment, the distribution parameters of the visible satellites and the signal-to-noise ratio of the visible satellites are combined to determine whether the terminal equipment is located on the bridge deck road of the viaduct or the underbridge road of the viaduct, so that the positioning accuracy is further improved, and the navigation accuracy is improved.

In an exemplary embodiment, the step S142 shown in fig. 10 may include steps S410 to S440, on the condition that the distribution parameters include the altitude angle and the plane angle of the visible satellite, which are described in detail as follows:

step S410, obtaining absolute difference values between any two plane angles from the plane angles of each visible satellite included in the distribution parameters, and determining a maximum absolute difference value from the obtained absolute difference values.

That is, the formula for determining the absolute value of the maximum difference may be as follows:

wherein,

is the absolute value of the maximum difference value,

in order to take the function of the maximum value,

is the planar angle of the ith satellite in view,

the planar angle of the jth visible satellite is the range of i [1, n ]]J has a value range of [1, n]And n is the total number of visible satellites determined based on the satellite detection signals.

When the number of visible satellites is small, it indicates that the terminal device is located on an off-bridge road of the viaduct to a great extent, and therefore, in order to reduce power consumption, in some examples, when the number of visible satellites is less than or equal to a preset number threshold value q, the absolute value of the maximum difference may be directly determined to be 0, that is, the formula for determining the absolute value of the maximum difference may be as follows:

that is, when the number of visible satellites is equal to or less than q, the maximum absolute difference value is equal to 0; when the number of visible satellites is larger than q, the maximum difference absolute value is the largest difference absolute value in the difference absolute values between any two plane angles. The value of q can be flexibly set according to actual needs, for example, set to 3, 4, and the like.

Step S420, determine the maximum altitude angle from the altitude angles of each visible satellite included in the distribution parameters.

After the acquisition of the distribution parameters, the maximum altitude angle is determined from the altitude angles of each of the visible satellites contained in the distribution parameters. For example, assuming that 3 visible satellites are detected, the elevation angle of the first visible satellite is 20 °, the elevation angle of the second visible satellite is 50 °, the elevation angle of the third visible satellite is 75 °, and the maximum elevation angle is 75 °.

In order to avoid that the determined altitude is a negative number and the judgment accuracy is affected, the absolute value of the altitude of each visible satellite contained in the distribution parameters can be firstly obtained, and then the maximum value is selected as the maximum altitude. For example, the formula for determining the maximum elevation angle may be as follows:

wherein,

is the maximum height angle, and the height of the air conditioner,

the altitude of the ith satellite in view.

When the number of visible satellites is small, it is indicated to the greatest extent that the terminal device is located on an underbridge road of a viaduct, and therefore, in order to reduce power consumption, in some examples, when the number of visible satellites is less than or equal to a preset number threshold q, the maximum altitude angle may be directly determined to be 0, that is, a formula for determining the maximum altitude angle may be as follows:

that is, when the number of visible satellites is equal to or less than q, the maximum elevation angle is equal to 0; when the number of visible satellites is greater than q, the maximum elevation angle is the maximum elevation angle among the elevation angles of the plurality of visible satellites.

And step S430, determining a median from the signal-to-noise ratio of each visible satellite, and taking the determined median as a target signal-to-noise ratio.

In this embodiment, a median is determined from the signal-to-noise ratio of each visible satellite, and the determined median is used as a target signal-to-noise ratio.

The determination formula may be as follows:

wherein,

the median in the signal-to-noise ratio for the visible satellites, i.e. the target signal-to-noise ratio,

in order to take the function of the median,

the signal-to-noise ratio for the 1 st satellite in view, and, similarly,

for the signal-to-noise ratio of the 2 nd satellite in view,

is the signal-to-noise ratio of the nth satellite in view. For example, if there are 5 visible satellites and the snrs of the 5 visible satellites are 10dbHz, 12 dbHz, 15dbHz, 20 dbHz and 28 dbHz respectively, the median is 15dbHz, and the 15dbHz is taken as the target snr.

In other embodiments, the maximum signal-to-noise ratio or the minimum signal-to-noise ratio may also be determined from the signal-to-noise ratio of each visible satellite, and the maximum signal-to-noise ratio or the minimum signal-to-noise ratio is taken as the target signal-to-noise ratio; alternatively, an average signal-to-noise ratio of the satellites in view may be determined and the determined average signal-to-noise ratio may be used as the target signal-to-noise ratio.

It should be noted that the execution sequence of steps S410 to S430 may be arbitrarily changed, and this embodiment is not limited thereto.

And step S440, determining that the terminal equipment is positioned on a bridge deck road of the viaduct or an underbridge road of the viaduct according to the numerical range of the maximum difference absolute value, the numerical range of the maximum altitude angle and the numerical range of the target signal-to-noise ratio.

The absolute value of the maximum difference, the maximum elevation angle and the target signal-to-noise ratio are more referential, so that the positioning precision can be improved.

In an exemplary embodiment, the step S440 of determining whether the terminal device is located on the bridge deck road of the viaduct or on the underbridge road of the viaduct according to the value range of the absolute value of the maximum difference, the value range of the maximum altitude angle and the value range of the target signal-to-noise ratio may include steps S441 to S443, which are described in detail as follows:

step S441, determining an altitude angle threshold corresponding to the maximum altitude angle and a signal-to-noise ratio threshold corresponding to the target signal-to-noise ratio according to the numerical range of the maximum difference absolute value.

The altitude angle threshold and the signal-to-noise ratio threshold are used for determining whether the terminal equipment is located on a bridge surface road of the viaduct or an underbridge road of the viaduct. In order to improve the positioning accuracy, in this embodiment, specific values of the altitude angle threshold and the signal-to-noise ratio threshold are determined according to the maximum difference absolute value.

Step S442, if the maximum altitude angle is smaller than the altitude angle threshold and the target signal-to-noise ratio is smaller than the signal-to-noise ratio threshold, determining that the terminal device is located on the road under the overpass.

When the terminal equipment is positioned on an underbridge road of a viaduct, due to shielding of the viaduct, the terminal equipment cannot detect a satellite positioned at the top of the terminal at a maximum probability, the satellite which can be detected by the terminal equipment is usually positioned on the side face of the terminal, and the altitude angle of the detected satellite is small; also, the signal-to-noise ratio of the detected satellite signals is low. Therefore, in this embodiment, when the maximum altitude angle is smaller than the altitude angle threshold and the target signal-to-noise ratio is smaller than the signal-to-noise ratio threshold, it is determined that the terminal device is located on the off-bridge road of the overpass.

It should be noted that, in this embodiment, the maximum altitude angle is used as a criterion for determining whether the terminal device is located on a bridge deck road of the viaduct or on an underbridge road of the viaduct, in other embodiments, the altitude angle related parameters of the median, the minimum altitude angle, the average altitude angle and the like may be determined from the altitude angles of each visible satellite included in the distribution parameters, and at least one of the median, the minimum altitude angle, the average altitude angle and the maximum altitude angle is used as a criterion for determining whether the terminal device is located on the bridge deck road of the viaduct or on the underbridge road of the viaduct, where the altitude angle threshold corresponding to each altitude angle related parameter is different, and when the criterion includes one altitude angle related parameter, when the altitude angle related parameter is smaller than the corresponding altitude angle threshold and the target signal-to-noise ratio is smaller than the target signal-to-noise ratio threshold, determining an underbridge road of the viaduct; when the judgment standard includes multiple altitude angle correlation parameters, it may be determined that the terminal device is located on an underbridge road of the viaduct when each altitude angle correlation parameter is smaller than the respective corresponding altitude angle threshold and the target signal-to-noise ratio is smaller than the signal-to-noise ratio threshold, and it may be determined that the terminal device is located on a bridge deck road of the viaduct under other conditions.

Step S443, if the maximum altitude angle is larger than or equal to the altitude angle threshold value, or the target signal-to-noise ratio is larger than or equal to the signal-to-noise ratio threshold value, determining that the terminal device is located on the bridge deck road of the viaduct.

When the terminal equipment is positioned on a bridge deck road of a viaduct, the terminal equipment can usually detect a satellite positioned at the top of the terminal equipment due to the fact that the viaduct is not shielded, and the detected satellite has a large altitude angle; also, the signal-to-noise ratio of the detected satellite signals is high. Therefore, in this embodiment, when the maximum altitude angle is greater than or equal to the altitude angle threshold, or the target signal-to-noise ratio is greater than or equal to the signal-to-noise ratio threshold, it is determined that the terminal device is located on the bridge deck road of the viaduct.

It should be noted that, in this embodiment, the bridge deck road of the terminal device on the viaduct or the under-bridge road of the viaduct is determined according to the maximum absolute difference value, the maximum altitude angle, and the target signal-to-noise ratio, in other embodiments, the bridge deck road of the terminal device on the viaduct or the under-bridge road of the viaduct may be determined only according to the maximum altitude angle based on the same logic, for example, if the maximum altitude angle is greater than or equal to the altitude angle threshold, the bridge deck road of the terminal device on the viaduct is determined, and if the maximum altitude angle is smaller than the altitude angle threshold, the under-bridge road of the terminal device on the viaduct is determined; or determining the bridge deck road of the viaduct or the bridge underbridge road of the viaduct by the terminal equipment according to the maximum difference absolute value and the maximum altitude angle; or determining the bridge deck road of the terminal equipment on the viaduct or the underbridge road of the viaduct according to the maximum altitude angle and the target signal-to-noise ratio; or determining the bridge surface road of the viaduct or the bridge underbridge road of the viaduct according to the maximum difference absolute value and the target signal-to-noise ratio.

In an exemplary embodiment, step S441 may include steps S510-S530, which are described in detail as follows:

in step S510, a difference threshold corresponding to the maximum absolute difference value is obtained.

The difference threshold value can be flexibly set according to actual needs, and for example, can be set to 180 °.

In this embodiment, a difference threshold corresponding to the maximum difference absolute value is obtained first, and based on a comparison between the maximum difference absolute value and the difference threshold, the altitude angle threshold and the signal-to-noise ratio threshold are determined.

In step S520, if the maximum difference absolute value is smaller than the difference threshold, the preset first altitude angle is used as the altitude angle threshold corresponding to the maximum altitude angle, and the preset first signal-to-noise ratio is used as the signal-to-noise ratio threshold corresponding to the target signal-to-noise ratio.

In step S530, if the absolute value of the maximum difference is greater than or equal to the difference threshold, the preset second altitude is used as the altitude threshold corresponding to the maximum altitude, and the preset second signal-to-noise ratio is used as the signal-to-noise ratio threshold corresponding to the target signal-to-noise ratio.

Wherein the second elevation angle is less than the first elevation angle, and the second signal-to-noise ratio is less than the first signal-to-noise ratio.

When the terminal equipment is positioned on the road under the viaduct, the range of the satellite which can be detected by the terminal equipment is small, and the range of the satellite which can be detected by the terminal equipment can be reflected by the maximum difference absolute value. When the absolute value of the maximum difference is smaller, the probability that the terminal equipment is positioned on the road under the viaduct is higher, and the altitude angle threshold value and the signal-to-noise ratio threshold value can be relatively higher; when the absolute value of the maximum difference is larger, the probability that the terminal equipment is positioned on the road under the viaduct is smaller, and the altitude angle threshold value and the signal-to-noise ratio threshold value can be relatively smaller. Therefore, when the maximum difference absolute value is smaller than the difference threshold, a first altitude angle with a relatively large value is selected as the altitude angle threshold, and a first signal-to-noise ratio with a relatively large value is selected as the signal-to-noise ratio threshold; when the absolute value of the maximum difference is larger than or equal to the difference threshold, selecting a second altitude angle with a relatively small value as the altitude angle threshold, and selecting a second signal-to-noise ratio with a relatively small value as the signal-to-noise ratio threshold, so that the positioning accuracy is improved.

The specific values of the first altitude angle, the second altitude angle, the first signal-to-noise ratio and the second signal-to-noise ratio can be flexibly set according to actual needs. For example, the first altitude angle may be set to 15 °, the first signal-to-noise ratio may be set to 15dbHz, the second altitude angle may be set to 10 °, and the second signal-to-noise ratio may be set to 10dbHz, so as to improve the accuracy, and under this condition, the manner of determining that the terminal device is located on the bridge surface road of the viaduct or the under-bridge road of the viaduct may be obtained by the following formula:

in another exemplary embodiment, since the overpass has different widths and heights and has different degrees of influence on the terminal device, the larger the width of the overpass is, the lower the height of the overpass is, and the greater the degree of influence on the terminal device is, the altitude angle threshold and the signal-to-noise ratio threshold may be set based on the width and height of the overpass, wherein the larger the width of the overpass is, the smaller the height of the overpass is, and the smaller the altitude angle threshold and the signal-to-noise ratio threshold are. For example, a plurality of sets of parameter combinations may be provided, each set of parameter combination including a first altitude angle, a second altitude angle, a first signal-to-noise ratio and a second signal-to-noise ratio, and one set of parameter combination corresponding to a height and a width of the overpass. After determining that the terminal device is located within the geographical range of the viaduct, a set of parameter combinations may be selected from the sets of parameter combinations according to the height and width of the viaduct, and the bridge deck road of the viaduct or the underpass road of the viaduct may be determined based on the selected parameter combinations.

In another exemplary embodiment, step S140 shown in fig. 3 may include steps S610 to S630, which are described in detail as follows:

step S610, if there are multiple layers of viaduct roads at the location of the terminal device, acquiring the height of the terminal device and the height of each layer of viaduct road in the multiple layers of viaduct roads.

It should be noted that, in road construction, there may be a situation where multiple layers of viaduct roads overlap in a geographic range, for example, multiple viaduct roads with different heights overlap in a geographic range, where the multiple viaduct roads may belong to the same viaduct or may belong to different viaducts; alternatively, the same viaduct road includes multiple layers of viaduct roads, and the multiple layers of viaduct roads overlap in geographic range. In order to determine which one of the multiple layers of overpass roads the terminal device is specifically located on, in the present embodiment, the height of the terminal device and the height of each of the multiple layers of overpass roads are obtained.

The mode of determining whether the position of the terminal equipment has the multilayer viaduct road can be flexibly set according to actual needs. For example, the geographic range of each layer of overpass road may be obtained, and whether the terminal device is located in the geographic range of the multiple layers of overpass roads may be determined according to the geographic range of each layer of overpass roads.

The mode of acquiring the height of the terminal equipment can be flexibly set according to actual needs. For example, the altitude of the terminal device may be determined based on geocentric geodetic coordinates contained in the geographic location of the terminal device; alternatively, since the air pressures at different heights are different, an air pressure sensor may be mounted in the terminal device, and the height of the terminal device may be determined based on a parameter measured by the air pressure sensor.

The method for acquiring the height of each layer of viaduct road in the plurality of layers of viaduct roads may be: the height of each of the plurality of layers of overpass roads is obtained from a preset database. The preset database stores the heights of different viaduct roads.

Step S620, determining a target overpass road where the terminal device is located from the multiple layers of overpass roads according to the height of the terminal device and the height of each layer of overpass roads in the multiple layers of overpass roads.

After the height of the terminal device and the height of each layer of viaduct in the multi-layer viaduct road are obtained, the target viaduct road where the terminal device is located can be determined from the multi-layer viaduct. The specific determination mode may be flexibly set according to actual needs, for example, including but not limited to the following three modes:

the first mode is as follows: and determining the viaduct road with the minimum difference between the height of the viaduct road and the height of the terminal equipment from the plurality of layers of viaduct roads according to the height of the terminal equipment and the height of each layer of viaduct road in the plurality of layers of viaduct roads, and taking the determined viaduct road as the target viaduct road.

The second mode is as follows: determining a first viaduct road and a second viaduct road from the plurality of layers of viaduct roads according to the height of the terminal device and the height of each layer of viaduct road in the plurality of layers of viaduct roads, and taking the first viaduct road as a target viaduct road. The first viaduct road and the second viaduct road are adjacent in height, the terminal device is located between the first viaduct road and the second viaduct road, and the height of the second viaduct road is larger than that of the first viaduct road.

The third mode is as follows: and determining a first viaduct road and a second viaduct road from the plurality of layers of viaduct roads according to the height of the terminal equipment and the height of each layer of viaduct road in the plurality of layers of viaduct roads, and taking the second viaduct road as a target viaduct road.

For example, assuming that the multi-layer viaduct road comprises three layers of viaduct roads, namely a1, a2 and A3, wherein the height of a1 is 3 meters, the height of a2 is 8 meters, the height of A3 is 12 meters, and the height of the terminal equipment is 3.3 meters, according to the first mode, since the height of the terminal equipment is different from the height of a1 by the minimum, the a1 is selected as the target viaduct road; according to the second way, since the terminal device is between a1 and a2, a2 is higher than a1, and therefore, a1 is used as a target to bridge a road; according to the third mode, since the terminal device is between a1 and a2, a2 is higher than a1, and therefore, a2 is used as a target to bridge a road.

In other embodiments, if there is only one layer of overpass road at the location of the terminal device, the layer of overpass road may be used as the target overpass road.

And step S630, determining the bridge deck road of the terminal equipment positioned on the target level bridge road or the underbridge road of the terminal equipment positioned on the target level bridge road according to the numerical range of the distribution parameters.

Since the height of the terminal device may be inaccurate, in order to more accurately determine which layer of overpass road the terminal device is located on, after determining the target overpass road, the bridge deck road of the terminal device located on the target overpass road or the underpass road located on the target overpass road may be determined according to the numerical range of the distribution parameter, where the specific determination manner may refer to the foregoing description, and is not described herein again.

According to the numerical range of the distribution parameters, if the terminal equipment is determined to be positioned on the bridge deck road of the target viaduct road, determining that the terminal equipment is positioned on the target viaduct road; and if the terminal equipment is determined to be positioned on the underbridge road of the target viaduct road, determining that the terminal equipment is positioned on the lower layer of the viaduct road of the target viaduct road. For example, assuming that the multi-layer viaduct road includes three layers of viaduct roads, including b1, b2 and b3, wherein the height of b1 > the height of b2 > the height of b3, if the target viaduct road is b1, when the terminal device is determined to be located at the underbridge road of the target viaduct road, the road where the terminal device is located is determined to be b 2; if the target viaduct road is b3, when the terminal device is determined to be located on the underbridge road of the target viaduct road, the terminal device is determined to be located on the ground road.

In this embodiment, if there are multiple layers of overpass roads at the location of the terminal device, the height and distribution parameters of the terminal device are combined to determine which layer of overpass road the terminal device is specifically located on, so as to improve the accuracy of positioning.

In another exemplary embodiment, the method further comprises: and if the satellite detection signal of the terminal equipment is not acquired, determining that the terminal equipment is positioned on the road under the viaduct.

It should be noted that, if the terminal device does not detect the satellite signal, it indicates that the terminal device is blocked, and the probability that the terminal device is located on the road under the overpass is high, so that if the satellite detection signal of the terminal device is not obtained, it is determined that the terminal device is located on the road under the overpass.

In another exemplary embodiment, before step S130, the method may further include step S710 to step S730, which are described in detail as follows:

in step S710, visible satellites are determined according to the satellite detection signals.

For the way of determining visible satellites according to the satellite probing signals, please refer to the above description.

Step S720, if the number of the visible satellites is smaller than the preset number threshold, the terminal equipment is determined to be located on the road under the viaduct.

The preset number threshold can be flexibly set according to actual needs, for example, set to 3, 4, etc.

If the determined number of the visible satellites is smaller than the preset number threshold, the terminal device is located on the off-bridge road of the viaduct with the maximum probability, and therefore when the number of the visible satellites is smaller than the preset number threshold, the terminal device is determined to be located on the off-bridge road of the viaduct.

Step S730, if the number of the determined visible satellites is greater than or equal to the preset number threshold, determining distribution parameters of a plurality of visible satellites according to the satellite detection signals and the geographic position of the terminal device.

If the number of the determined visible satellites is greater than or equal to the preset number threshold, in order to improve the positioning accuracy, a step of determining distribution parameters of a plurality of visible satellites according to the satellite detection signals and the geographic position of the terminal device is executed, that is, step S130 is executed to further determine that the terminal device is located on a bridge deck road of the viaduct or an underbridge road of the viaduct.

Fig. 11 is a block diagram of a positioning device shown in an exemplary embodiment of the present application. The device includes:

an acquisition module 1101 configured to acquire a geographic position of a terminal device to be positioned and a satellite detection signal; a first determining module 1102, configured to determine whether the terminal device is located within a geographic range of the viaduct according to the geographic location of the terminal device; a second determining module 1103, configured to determine distribution parameters of the multiple visible satellites according to the satellite detection signals and the geographic position of the terminal device if the terminal device is located within the geographic range of the viaduct, where the distribution parameters are used to represent a position distribution relationship between the multiple visible satellites and the terminal device in a geometric space; and the positioning module 1104 is configured to determine that the terminal device is located on a bridge deck road of the viaduct or an underbridge road of the viaduct according to the numerical range of the distribution parameter.

In another exemplary embodiment, the positioning module 1104 includes:

a signal-to-noise ratio acquisition module configured to acquire a signal-to-noise ratio of each of a plurality of visible satellites.

And the position determining module is configured to determine whether the terminal equipment is positioned on a bridge deck road of the viaduct or an off-bridge road of the viaduct according to the numerical range of the distribution parameters and the numerical range of the signal-to-noise ratio.

In another exemplary embodiment, on the condition that the distribution parameters include an altitude angle and a plane angle of the visible satellites, the position determination module includes:

and the maximum difference absolute value determining module is configured to acquire the difference absolute value between any two plane angles from the plane angles of each visible satellite contained in the distribution parameters, and determine the maximum difference absolute value from the acquired difference absolute values.

A maximum altitude angle determination module configured to determine a maximum altitude angle from the altitude angles of each of the visible satellites included in the distribution parameter.

And the target signal-to-noise ratio determining module is configured to determine a median from the signal-to-noise ratio of each visible satellite and take the determined median as the target signal-to-noise ratio.

And the viaduct position determining module is configured to determine that the terminal equipment is positioned on a bridge deck road of the viaduct or an off-bridge road of the viaduct according to the numerical range of the maximum difference absolute value, the numerical range of the maximum altitude angle and the numerical range of the target signal-to-noise ratio.

In another exemplary embodiment, the overpass location determination module comprises:

and the threshold value determining module is configured to determine an altitude angle threshold value corresponding to the maximum altitude angle and a signal-to-noise ratio threshold value corresponding to the target signal-to-noise ratio according to the numerical range of the maximum difference absolute value.

And the first position determining module is configured to determine that the terminal equipment is positioned on an off-bridge road of the viaduct if the maximum altitude angle is smaller than the altitude angle threshold and the target signal-to-noise ratio is smaller than the signal-to-noise ratio threshold.

And the second position determining module is configured to determine that the terminal equipment is positioned on the bridge deck road of the viaduct if the maximum altitude angle is larger than or equal to the altitude angle threshold value or the target signal-to-noise ratio is larger than or equal to the signal-to-noise ratio threshold value.

In another exemplary embodiment, the threshold determination module includes:

a difference threshold acquisition module configured to acquire a difference threshold corresponding to the maximum difference absolute value.

And the first threshold value determining submodule is configured to take a preset first altitude angle as an altitude angle threshold value corresponding to the maximum altitude angle and take a preset first signal-to-noise ratio as a signal-to-noise ratio threshold value corresponding to the target signal-to-noise ratio if the maximum difference absolute value is smaller than the difference threshold value.

The second threshold value determining submodule is configured to take a preset second altitude angle as an altitude angle threshold value corresponding to the maximum altitude angle and take a preset second signal-to-noise ratio as a signal-to-noise ratio threshold value corresponding to the target signal-to-noise ratio if the maximum difference absolute value is greater than or equal to the difference threshold value; the second elevation angle is less than the first elevation angle and the second signal-to-noise ratio is less than the first signal-to-noise ratio.

In another exemplary embodiment, the second determining module 1103 includes:

a satellite determination module configured to determine a plurality of satellites in view from the satellite probe signals.

The sending module is configured to send an ephemeris acquisition request to a continuously operating reference station server in an area where the terminal device is located.

And the receiving module is configured to receive ephemeris data sent by the continuously operating reference station server based on the ephemeris acquisition request, wherein the ephemeris data comprises the geocentric and geostationary coordinates of different satellites detected by the continuously operating reference station server at different times.

A distribution parameter determination module configured to determine distribution parameters of the plurality of satellites in view based on the geographical location of the terminal device and the received ephemeris data.

In another exemplary embodiment, on the condition that the distribution parameter includes an altitude angle of a visible satellite, the distribution parameter determination module includes:

the earth-centered earth-fixed coordinate determination module is configured to determine the earth-centered earth-fixed coordinate of each visible satellite in the plurality of visible satellites at the target moment from the received ephemeris data; the target time is the acquisition time of the geographical position of the terminal device.

The reference coordinate determination module is configured to determine a reference coordinate of each visible satellite in a reference coordinate system based on the geocentric coordinates of the terminal equipment and the geocentric coordinates of each visible satellite; the reference coordinate system is a three-dimensional coordinate system established with the terminal device as an origin.

An altitude angle determination module configured to determine an altitude angle for each satellite in view based on the following formula:

in another exemplary embodiment, on the condition that the geographical location of the terminal device further includes a longitude and a latitude of a location where the terminal device is located, the reference coordinate determination module includes:

a reference coordinate determination sub-module configured to determine reference coordinates of each visible satellite in a reference coordinate system based on the following formula:

in another exemplary embodiment, on the condition that the distribution parameter further includes a plane angle of a visible satellite, the apparatus further includes:

a plane angle determination module configured to determine a plane angle for each satellite in view based on the following formula:

in another exemplary embodiment, the first determining module 1102 includes:

a geofence data acquisition module configured to acquire geofence data for the overpass from a geofence database.

The viaduct range determining module is configured to determine the geographical range of the viaduct according to the geofence data of the viaduct.

And the comparison module is configured to compare the geographic position of the terminal equipment with the geographic range of the viaduct so as to determine whether the terminal equipment is located in the geographic range of the viaduct.

In another exemplary embodiment, the positioning module 1104 includes:

the height acquisition module is configured to acquire the height of the terminal device and the height of each layer of viaduct road in the plurality of layers of viaduct roads if the plurality of layers of viaduct roads exist at the position where the terminal device is located.

And the target determining module is configured to determine the target viaduct road where the terminal device is located from the plurality of layers of viaducts according to the height of the terminal device and the height of each layer of viaduct road in the plurality of layers of viaduct roads.

And the positioning sub-module is configured to determine that the terminal equipment is positioned on a bridge deck road of the target high-rise road or an underbridge road of the target high-rise road according to the numerical range of the distribution parameters.

In another exemplary embodiment, the apparatus further comprises:

a third determination module configured to determine satellites in view from the satellite probe signals.

And the under-bridge road determining module is configured to determine that the terminal equipment is positioned on the under-bridge road of the viaduct if the determined number of the visible satellites is smaller than a preset number threshold.

And the control module is configured to control the second determining module to execute a step of determining distribution parameters of the plurality of visible satellites according to the satellite detection signals and the geographic position of the terminal equipment if the determined number of the visible satellites is greater than or equal to a preset number threshold.

It should be noted that the apparatus provided in the foregoing embodiment and the method provided in the foregoing embodiment belong to the same concept, and the specific manner in which each module and unit execute operations has been described in detail in the method embodiment, and is not described again here.

Embodiments of the present application also provide an electronic device comprising one or more processors and storage means, wherein the storage means is configured to store one or more programs which, when executed by the one or more processors, cause the electronic device to implement the aforementioned method.

Fig. 12 is a schematic structural diagram of an electronic device according to an exemplary embodiment.

It should be noted that the electronic device is only an example adapted to the application and should not be considered as providing any limitation to the scope of use of the application. The electronic device is also not to be construed as requiring reliance on, or necessity of, one or more components of the exemplary electronic device illustrated in fig. 12.

As shown in fig. 12, in an exemplary embodiment, the electronic device includes a processing component 1201, a memory 1202, a power component 1203, a multimedia component 1204, an audio component 1205, a sensor component 1207, and a communication component 1208. The above components are not all necessary, and the electronic device may add other components or reduce some components according to its own functional requirements, which is not limited in this embodiment.

The processing component 1201 generally controls the overall operation of the electronic device, such as operations associated with display, data communication, and log data processing. The processing component 1201 may include one or more processors 1209 to execute instructions to perform all or a portion of the operations described above. Further, the processing component 1201 can include one or more modules that facilitate interaction between the processing component 1201 and other components. For example, the processing component 1201 may include a multimedia module to facilitate interaction between the multimedia component 1204 and the processing component 1201.

The memory 1202 is configured to store various types of data to support operation at the electronic device, examples of which include instructions for any application or method operating on the electronic device. The memory 1202 has stored therein one or more modules configured to be executed by the one or more processors 1209 to perform all or part of the steps of the methods described in the embodiments above.

The power supply component 1203 provides power to the various components of the electronic device. The power components 1203 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for an electronic device.

The multimedia component 1204 includes a screen that provides an output interface between the electronic device and the user. In some embodiments, the screen may include a TP (Touch Panel) and an LCD (Liquid Crystal Display). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

The audio component 1205 is configured to output and/or input audio signals. For example, the audio component 1205 includes a microphone configured to receive external audio signals when the electronic device is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. In some embodiments, the audio component 1205 also includes a speaker for outputting audio signals.

The sensor assembly 1207 includes one or more sensors to provide various aspects of status assessment for the electronic device. For example, the sensor assembly 1207 may detect an open/closed state of the electronic device, and may also detect a temperature change of the electronic device.

The communications component 1208 is configured to facilitate communications between the electronic device and other devices in a wired or wireless manner. The electronic device may access a Wireless network based on a communication standard, such as Wi-Fi (Wireless-Fidelity, Wireless network).

It will be appreciated that the configuration shown in fig. 12 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 12 or have different components than shown in fig. 12. Each of the components shown in fig. 12 may be implemented in hardware, software, or a combination thereof.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

Another aspect of the present application also provides a computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor of a computer, cause the computer to perform the aforementioned method. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.

It should be noted that the computer readable storage medium of the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with a computer program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the methods provided in the various embodiments described above.

The above description is only a preferred exemplary embodiment of the present application, and is not intended to limit the embodiments of the present application, and those skilled in the art can easily make various changes and modifications according to the main concept and spirit of the present application, so that the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of positioning, the method comprising:

if the terminal equipment is located in the geographical range of the viaduct, determining distribution parameters of a plurality of visible satellites according to the satellite detection signals and the geographical position of the terminal equipment; the distribution parameters comprise an altitude angle and a plane angle of a visible satellite, the plane angle of the visible satellite is an included angle between a projection line of the visible satellite and a longitudinal axis in a reference coordinate system, the projection line of the visible satellite is a projection of a connecting line of the terminal equipment and the visible satellite on a plane formed by a transverse axis and the longitudinal axis of the reference coordinate system, and the reference coordinate system is a three-dimensional coordinate system established by taking the terminal equipment as an origin;

acquiring signal-to-noise ratios of the plurality of visible satellites, and determining a target signal-to-noise ratio according to the signal-to-noise ratios of the plurality of visible satellites; the target signal-to-noise ratio is a median of the signal-to-noise ratios of the plurality of visible satellites, a minimum of the signal-to-noise ratios of the plurality of visible satellites, a maximum of the signal-to-noise ratios of the plurality of visible satellites, or an average of the signal-to-noise ratios of the plurality of visible satellites;

acquiring a difference absolute value between any two plane angles from the plane angles of each visible satellite contained in the distribution parameters, and determining a maximum difference absolute value from the acquired difference absolute values;

determining a maximum altitude angle from the altitude angles of each visible satellite contained in the distribution parameters;

determining an altitude angle threshold corresponding to the maximum altitude angle and a signal-to-noise ratio threshold corresponding to the target signal-to-noise ratio according to the numerical range of the maximum difference absolute value;

if the maximum altitude angle is smaller than the altitude angle threshold value and the target signal-to-noise ratio is smaller than the signal-to-noise ratio threshold value, determining that the terminal equipment is located on an off-bridge road of the viaduct; and if the maximum altitude angle is larger than or equal to the altitude angle threshold value, or the target signal-to-noise ratio is larger than or equal to the signal-to-noise ratio threshold value, determining that the terminal equipment is positioned on a bridge deck road of the viaduct.

2. The method of claim 1, wherein said determining an altitude angle threshold corresponding to said maximum altitude angle and a signal-to-noise ratio threshold corresponding to said target signal-to-noise ratio based on a numerical range of said maximum difference absolute value comprises:

acquiring a difference threshold corresponding to the maximum difference absolute value;

if the maximum difference absolute value is smaller than the difference threshold, taking a preset first altitude angle as an altitude angle threshold corresponding to the maximum altitude angle, and taking a preset first signal-to-noise ratio as a signal-to-noise ratio threshold corresponding to the target signal-to-noise ratio;

if the maximum difference absolute value is larger than or equal to the difference threshold, taking a preset second altitude angle as an altitude angle threshold corresponding to the maximum altitude angle, and taking a preset second signal-to-noise ratio as a signal-to-noise ratio threshold corresponding to the target signal-to-noise ratio; the second elevation angle is less than the first elevation angle, and the second signal-to-noise ratio is less than the first signal-to-noise ratio.

3. The method of claim 1, wherein said determining distribution parameters for a plurality of satellites in view based on said satellite probe signals and said terminal device's geographic location comprises:

determining a plurality of visible satellites from the satellite detection signals;

sending an ephemeris acquisition request to a continuously operating reference station server in the area where the terminal equipment is located;

receiving ephemeris data sent by the continuously operating reference station server based on the ephemeris acquisition request, wherein the ephemeris data comprises the geocentric geodetic coordinates of different satellites detected by the continuously operating reference station server at different times;

determining distribution parameters of the plurality of satellites in view based on the geographic location of the terminal device and the received ephemeris data.

4. The method of claim 3, wherein the geographic location of the terminal device comprises geocentric geodetic coordinates of the terminal device;

the determining the distribution parameters of the plurality of visible satellites based on the geographical position of the terminal device and the received ephemeris data comprises:

determining the geocentric geo-solid coordinates of each visible satellite in the plurality of visible satellites at the target time from the received ephemeris data; the target time is the acquisition time of the geographic position of the terminal equipment;

determining a reference coordinate of each visible satellite in a reference coordinate system based on the geocentric coordinates of the terminal equipment and the geocentric coordinates of each visible satellite; the reference coordinate system is a three-dimensional coordinate system established by taking the terminal equipment as an origin;

determining an altitude angle for each visible satellite based on the following formula:

wherein,

is the altitude angle of the ith satellite in view,

as the abscissa in the reference coordinate of the ith satellite in view,

is the ordinate in the reference coordinate of the ith satellite in view,

is the vertical coordinate in the reference coordinate of the ith visible satellite.

5. The method of claim 4, wherein the geographic location of the terminal device further comprises a longitude and a latitude of a location at which the terminal device is located; the determining the reference coordinate of each visible satellite in the reference coordinate system based on the geocentric/geostationary coordinate of the terminal device and the geocentric/geostationary coordinate of each visible satellite includes:

wherein,

is the longitude of the location of the terminal device,

is the latitude of the location where the terminal device is located,

is the abscissa in the geocentric coordinates of the terminal equipment,

and the coordinate is a vertical coordinate in the geocentric earth-fixed coordinate of the terminal equipment.

6. The method of claim 4, wherein after the determining the reference coordinates for each visible satellite in the reference coordinate system based on the geocentric geo-solid coordinates of the terminal device and the geocentric geo-solid coordinates of each visible satellite, the method further comprises:

determining a plane angle for each satellite in view based on the following formula:

wherein,

is the plane angle of the ith satellite in view.

7. The method of claim 1, wherein the determining whether the terminal device is located within a geographic range of the overpass based on the geographic location of the terminal device comprises:

acquiring geofence data of the viaduct from a geofence database;

determining the geographical range of the viaduct according to the geofence data of the viaduct;

and comparing the geographic position of the terminal equipment with the geographic range of the viaduct to determine whether the terminal equipment is located in the geographic range of the viaduct.

8. The method of claim 1, wherein if the maximum altitude angle is less than the altitude angle threshold and the target signal-to-noise ratio is less than the signal-to-noise ratio threshold, determining that the terminal device is located under an off-bridge road of the overpass; if the maximum altitude angle is greater than or equal to the altitude angle threshold, or the target signal-to-noise ratio is greater than or equal to the signal-to-noise ratio threshold, determining that the terminal device is located on a bridge deck road of the viaduct, including:

if the position of the terminal equipment has multiple layers of viaduct roads, acquiring the height of the terminal equipment and the height of each layer of viaduct road in the multiple layers of viaduct roads;

determining a target viaduct road where the terminal equipment is located from the multilayer viaduct road according to the height of the terminal equipment and the height of each layer of viaduct road in the multilayer viaduct road;

if the maximum altitude angle is smaller than the altitude angle threshold value and the target signal-to-noise ratio is smaller than the signal-to-noise ratio threshold value, determining that the terminal equipment is located on an underbridge road of the target viaduct road;

and if the maximum altitude angle is larger than or equal to the altitude angle threshold value, or the target signal-to-noise ratio is larger than or equal to the signal-to-noise ratio threshold value, determining that the terminal equipment is positioned on the bridge deck road of the target viaduct road.

9. The method of claim 1, wherein prior to said determining distribution parameters for a plurality of visible satellites based on said satellite sounding signals and a geographic location of said terminal device, said method further comprises:

determining visible satellites according to the satellite detection signals;

if the number of the determined visible satellites is smaller than a preset number threshold, determining that the terminal equipment is located on an underbridge road of the viaduct;

and if the number of the determined visible satellites is larger than or equal to the preset number threshold, executing the step of determining the distribution parameters of the plurality of visible satellites according to the satellite detection signals and the geographic position of the terminal equipment.

10. A positioning device, the device comprising:

the second determining module is configured to determine distribution parameters of a plurality of visible satellites according to the satellite detection signals and the geographic position of the terminal equipment if the terminal equipment is located in the geographic range of the viaduct; the distribution parameters comprise an altitude angle and a plane angle of a visible satellite, the plane angle of the visible satellite is an included angle between a projection line of the visible satellite and a longitudinal axis in a reference coordinate system, the projection line of the visible satellite is a projection of a connecting line of the terminal equipment and the visible satellite on a plane formed by a transverse axis and the longitudinal axis of the reference coordinate system, and the reference coordinate system is a three-dimensional coordinate system established by taking the terminal equipment as an origin;

the signal-to-noise ratio acquisition module is configured to acquire signal-to-noise ratios of the plurality of visible satellites and determine a target signal-to-noise ratio according to the signal-to-noise ratios of the plurality of visible satellites; the target signal-to-noise ratio is a median of the signal-to-noise ratios of the plurality of visible satellites, a minimum of the signal-to-noise ratios of the plurality of visible satellites, a maximum of the signal-to-noise ratios of the plurality of visible satellites, or an average of the signal-to-noise ratios of the plurality of visible satellites;

a third determining module, configured to obtain an absolute difference value between any two plane angles from the plane angles of each visible satellite included in the distribution parameters, and determine a maximum absolute difference value from the obtained absolute difference values;

a fourth determining module configured to determine a maximum altitude angle from among the altitude angles of each visible satellite contained in the distribution parameters;

a threshold determination module configured to determine an altitude angle threshold corresponding to the maximum altitude angle and a signal-to-noise ratio threshold corresponding to the target signal-to-noise ratio according to a numerical range of the maximum difference absolute value;

the positioning module is configured to determine that the terminal device is located on an off-bridge road of the viaduct if the maximum altitude angle is smaller than the altitude angle threshold and the target signal-to-noise ratio is smaller than the signal-to-noise ratio threshold; and if the maximum altitude angle is larger than or equal to the altitude angle threshold value, or the target signal-to-noise ratio is larger than or equal to the signal-to-noise ratio threshold value, determining that the terminal equipment is positioned on a bridge deck road of the viaduct.

11. The apparatus of claim 10, wherein the threshold determination module comprises:

a difference threshold acquisition module configured to acquire a difference threshold corresponding to the maximum difference absolute value;

a first threshold determination submodule configured to, if the maximum difference absolute value is smaller than the difference threshold, take a preset first altitude angle as an altitude angle threshold corresponding to the maximum altitude angle, and take a preset first signal-to-noise ratio as a signal-to-noise ratio threshold corresponding to the target signal-to-noise ratio;

a second threshold determination submodule configured to, if the maximum difference absolute value is greater than or equal to the difference threshold, take a preset second altitude angle as an altitude angle threshold corresponding to the maximum altitude angle, and take a preset second signal-to-noise ratio as a signal-to-noise ratio threshold corresponding to the target signal-to-noise ratio; the second elevation angle is less than the first elevation angle, and the second signal-to-noise ratio is less than the first signal-to-noise ratio.

12. The apparatus of claim 10, wherein the second determining module comprises:

a satellite determination module configured to determine a plurality of visible satellites from the satellite sounding signals;

a sending module configured to send an ephemeris acquisition request to a continuously operating reference station server in an area where the terminal device is located;

a receiving module configured to receive ephemeris data sent by the continuously operating reference station server based on the ephemeris acquisition request, where the ephemeris data includes geocentric and geostationary coordinates of different satellites detected by the continuously operating reference station server at different times;

a distribution parameter determination module configured to determine distribution parameters of the plurality of satellites in view based on the geographic location of the terminal device and the received ephemeris data.

13. The apparatus of claim 12, wherein the geographic location of the terminal device comprises geocentric geodetic coordinates of the terminal device;

the distribution parameter determination module includes:

the earth-centered earth-fixed coordinate determination module is configured to determine the earth-centered earth-fixed coordinate of each visible satellite in the plurality of visible satellites at the target moment from the received ephemeris data; the target time is the acquisition time of the geographic position of the terminal equipment;

a reference coordinate determination module configured to determine a reference coordinate of each visible satellite in a reference coordinate system based on the geocentric coordinates of the terminal device and the geocentric coordinates of each visible satellite; the reference coordinate system is a three-dimensional coordinate system established by taking the terminal equipment as an origin;

wherein,

is the altitude angle of the ith satellite in view,

as the abscissa in the reference coordinate of the ith satellite in view,

is the ordinate in the reference coordinate of the ith satellite in view,

14. The apparatus of claim 13, wherein the geographic location of the terminal device further comprises a longitude and a latitude of a location at which the terminal device is located; the reference coordinate determination module includes:

wherein,

is the longitude of the location of the terminal device,

is the latitude of the location where the terminal device is located,

is the abscissa in the geocentric coordinates of the terminal equipment,

15. The apparatus of claim 13, wherein the apparatus further comprises:

wherein,

is the plane angle of the ith satellite in view.

16. The apparatus of claim 10, wherein the first determining module comprises:

the geofence data acquisition module is configured to acquire the geofence data of the viaduct from the geofence database;

the viaduct range determining module is configured to determine the geographical range of the viaduct according to the geofence data of the viaduct;

17. The apparatus of claim 10, wherein the positioning module comprises:

the height acquisition module is configured to acquire the height of the terminal equipment and the height of each layer of viaduct road in the plurality of layers of viaduct roads if the plurality of layers of viaduct roads exist at the position where the terminal equipment is located;

the target determining module is configured to determine a target viaduct road where the terminal device is located from the plurality of layers of viaduct roads according to the height of the terminal device and the height of each layer of viaduct road in the plurality of layers of viaduct roads;

a positioning sub-module configured to determine that the terminal device is located on an off-bridge road of the target overpass road if the maximum altitude angle is smaller than the altitude angle threshold and the target signal-to-noise ratio is smaller than the signal-to-noise ratio threshold; and if the maximum altitude angle is larger than or equal to the altitude angle threshold value, or the target signal-to-noise ratio is larger than or equal to the signal-to-noise ratio threshold value, determining that the terminal equipment is positioned on the bridge deck road of the target viaduct road.

18. The apparatus of claim 10, wherein the apparatus further comprises:

a fifth determination module configured to determine visible satellites from the satellite probe signals;

the under-bridge road determining module is configured to determine that the terminal device is located on an under-bridge road of the viaduct if the number of the determined visible satellites is smaller than a preset number threshold;

and the control module is configured to control the second determining module to execute the step of determining the distribution parameters of the plurality of visible satellites according to the satellite detection signals and the geographic position of the terminal device if the determined number of visible satellites is greater than or equal to the preset number threshold.

19. An electronic device, comprising:

one or more processors;

storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to carry out the method of any of claims 1-9.

20. A computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor of a computer, cause the computer to perform the method of any one of claims 1-9.